version: 66.06
glider: 146
mission: 9
dive: 53
start: 3 20 114 8 0 25
data:
$ID,146
$MISSION,9
$DIVE,53
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-324414.41
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3004
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.187134
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,075235,2245.325,-15743.633,36,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-67.1
$GPS2,075931,2245.345,-15743.697,11,1.7,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,-0.239
$KALMAN_X,-40914.0,135.0,-334.8,61399.0,202.3
$KALMAN_Y,23812.6,331.7,-0.9,-31447.6,1119.7
$MHEAD_RNG_PITCHd_Wd,147.1,16059,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.28,0.000,6,0.000,0.000,467,2162,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,5.1,-13.5,12,133,11.45,2.42,0.00,0.000,4,0.133,0.035,2721,657,3656,0,0,0,0,0,0
$GC,228,-1.17,-146.0,33.2,-12.9,27,233,0.12,2.45,0.00,0.000,6,0.116,0.018,2746,2228,3658,0,0,0,0,0,0
$GC,497,-1.10,-146.0,66.7,-12.3,51,502,0.00,2.55,0.00,0.000,4,0.000,0.041,2746,663,3658,0,0,0,0,0,0
$GC,545,-1.04,-146.0,74.1,-12.6,54,554,0.10,2.42,0.00,0.000,6,0.088,0.020,2771,2205,3658,0,0,0,0,0,0
$GC,813,-1.04,-146.0,104.1,-10.4,79,818,0.00,2.53,0.00,0.000,4,0.000,0.041,2771,663,3658,0,0,0,0,0,0
$GC,858,-1.04,-146.0,109.3,-9.3,82,868,0.00,2.40,0.00,0.000,6,0.000,0.018,2771,2196,3658,0,0,0,0,0,0
$GC,1126,-1.04,-146.0,133.5,-9.4,107,1131,0.00,2.53,0.00,0.000,4,0.000,0.041,2771,655,3658,0,0,0,0,0,0
$GC,1148,-1.04,-146.0,136.5,-10.2,108,1157,0.00,2.40,0.00,0.000,6,0.000,0.025,2771,2190,3658,0,0,0,0,0,0
$GC,1415,-1.04,-146.0,162.4,-9.7,133,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2190,3658,0,0,0,0,0,0
$GC,1679,-1.08,-146.0,187.8,-9.4,158,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2190,3659,0,0,0,0,0,0
$GC,1937,-1.14,-146.0,210.6,-8.5,174,1941,0.00,2.55,0.00,0.000,4,0.000,0.038,2771,3777,3660,0,0,0,0,0,0
$GC,1954,-1.20,-146.0,212.1,-7.9,174,1959,0.12,2.47,0.00,0.000,6,0.071,0.019,2724,2201,3660,0,0,0,0,0,0
$GC,2215,-1.20,-146.0,237.3,-9.5,181,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2201,3660,0,0,0,0,0,0
$GC,2459,-1.20,-146.0,258.3,-8.5,187,2463,0.00,2.58,0.00,0.000,4,0.000,0.052,2723,637,3660,0,0,0,0,0,0
$GC,2476,-1.20,-146.0,259.8,-8.3,187,2480,0.00,2.40,0.00,0.000,6,0.000,0.027,2723,2189,3659,0,0,0,0,0,0
$GC,2736,-1.20,-146.0,282.7,-9.1,194,2741,0.00,2.58,0.00,0.000,4,0.000,0.044,2723,3776,3660,0,0,0,0,0,0
$GC,2836,-1.20,-146.0,293.1,-10.4,196,2841,0.00,2.47,0.00,0.000,6,0.000,0.022,2723,2203,3660,0,0,0,0,0,0
$GC,3104,-1.20,-146.0,316.1,-8.2,203,3109,0.00,2.58,0.00,0.000,4,0.000,0.044,2723,3773,3660,0,0,0,0,0,0
$GC,3132,-1.20,-146.0,318.4,-7.8,203,3136,0.00,2.53,0.00,0.000,6,0.000,0.025,2723,2198,3659,0,0,0,0,0,0
$GC,3382,-1.20,-146.0,337.3,-7.5,209,3386,0.00,2.62,0.00,0.000,4,0.000,0.048,2724,3772,3658,0,0,0,0,0,0
$GC,3438,-1.20,-146.0,342.3,-9.4,210,3442,0.00,2.53,0.00,0.000,6,0.000,0.029,2723,2201,3658,0,0,0,0,0,0
$GC,3704,-1.20,-146.0,365.6,-8.7,217,3709,0.00,2.65,0.00,0.000,4,0.000,0.051,2723,3779,3657,0,0,0,0,0,0
$GC,3720,-1.20,-146.0,367.2,-8.6,217,3725,0.00,2.55,0.00,0.000,6,0.000,0.035,2723,2217,3657,0,0,0,0,0,0
$GC,3982,-1.20,-146.0,389.6,-8.5,224,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2217,3655,0,0,0,0,0,0
$GC,4225,-1.24,-146.0,407.1,-7.0,230,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2217,3654,0,0,0,0,0,0
$GC,4469,-1.27,-146.0,425.0,-7.5,236,4473,0.00,2.67,0.00,0.000,4,0.000,0.060,2723,3775,3653,0,0,0,0,0,0
$GC,4524,-1.32,-146.0,429.8,-8.8,237,4528,0.00,2.62,0.00,0.000,6,0.000,0.048,2723,2207,3652,0,0,0,0,0,0
$GC,4791,-1.36,-146.0,450.7,-7.7,244,4795,0.00,2.83,0.00,0.000,4,0.000,0.092,2723,626,3650,0,0,0,0,0,0
$GC,4870,-1.41,-146.0,457.0,-7.9,245,4876,0.12,2.58,0.00,0.000,6,0.071,0.047,2679,2172,3649,0,0,0,0,0,0
$GC,5120,-1.37,-146.0,479.3,-9.0,252,5126,0.12,2.80,0.00,0.000,4,0.107,0.066,2705,3794,3647,0,0,0,0,0,0
$GC,5182,-1.37,-146.0,484.8,-8.6,253,5186,0.00,2.67,0.00,0.000,6,0.000,0.051,2705,2202,3648,0,0,0,0,0,0
$GC,5444,-1.37,-146.0,507.1,-8.8,260,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2203,3646,0,0,0,0,0,0
$GC,5686,-1.37,-146.0,527.2,-8.1,266,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2202,3644,0,0,0,0,0,0
$GC,5930,-1.37,-146.0,544.0,-6.6,272,5934,0.00,2.80,0.00,0.000,4,0.000,0.086,2705,3792,3643,0,0,0,0,0,0
$GC,6003,-1.37,-146.0,549.0,-6.9,273,6008,0.00,2.72,0.00,0.000,6,0.000,0.063,2705,2198,3642,0,0,0,0,0,0
$GC,6254,-1.37,-146.0,565.9,-6.8,279,6259,0.00,2.83,0.00,0.000,4,0.000,0.079,2705,3797,3641,0,0,0,0,0,0
$GC,6270,-1.37,-146.0,567.1,-6.8,279,6275,0.00,2.72,0.00,0.000,6,0.000,0.064,2705,2200,3640,0,0,0,0,0,0
$GC,6532,-1.37,-146.0,584.3,-6.5,286,6537,0.00,2.83,0.00,0.000,4,0.000,0.081,2705,3797,3639,0,0,0,0,0,0
$GC,6565,-1.37,-146.0,586.9,-8.1,286,6570,0.00,2.78,0.00,0.000,6,0.000,0.066,2705,2208,3639,0,0,0,0,0,0
$STATE,6771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6771,begin apogee
$GC,6777,-0.31,0.0,601.4,7.0,292,6899,1.02,0.00,117.78,1.020,6,0.074,0.000,2936,2374,3060,0,0,0,0,0,0
$STATE,6900,end apogee,CONTROL_FINISHED_OK
$STATE,6900,begin climb
$GC,6903,1.27,146.0,603.8,0.0,295,7038,1.42,2.88,124.00,0.990,4,0.038,0.088,3285,3932,2462,0,0,0,0,0,0
$GC,7095,1.12,146.0,589.6,12.9,299,7100,0.17,2.78,0.00,0.000,6,0.109,0.061,3250,2366,2457,0,0,0,0,0,0
$GC,7352,1.07,153.0,564.6,9.7,306,7360,0.00,0.00,5.70,0.736,6,0.000,0.000,3250,2367,2436,0,0,0,0,0,0
$GC,7596,1.02,153.0,540.5,10.1,312,7601,0.12,2.80,0.00,0.000,4,0.132,0.074,3226,3937,2434,0,0,0,0,0,0
$GC,7619,0.97,157.7,538.2,9.8,312,7630,0.00,2.65,5.57,0.729,6,0.000,0.045,3226,2374,2417,0,0,0,0,0,0
$GC,7874,1.00,180.5,515.4,8.9,318,7903,0.00,2.78,21.83,0.924,4,0.000,0.067,3226,3932,2323,0,0,0,0,0,0
$GC,7921,1.00,180.5,510.8,10.1,319,7925,0.00,2.67,0.00,0.000,6,0.000,0.052,3226,2383,2321,0,0,0,0,0,0
$GC,8200,1.04,208.7,486.2,8.7,326,8234,0.00,3.15,25.70,0.923,4,0.000,0.117,3227,782,2208,0,0,0,0,0,0
$GC,8245,1.07,232.9,482.0,8.9,327,8275,0.00,2.72,23.08,0.901,6,0.000,0.049,3226,2385,2109,0,0,0,0,0,0
$GC,8527,1.07,232.9,453.5,10.4,334,8531,0.00,2.67,0.00,0.000,4,0.000,0.061,3226,3940,2104,0,0,0,0,0,0
$GC,8542,1.07,232.9,451.5,10.6,334,8547,0.00,2.60,0.00,0.000,6,0.000,0.040,3226,2368,2103,0,0,0,0,0,0
$GC,8809,1.07,232.9,423.9,10.3,341,8814,0.00,2.85,0.00,0.000,4,0.000,0.083,3226,777,2102,0,0,0,0,0,0
$GC,8837,1.07,232.9,420.9,10.9,341,8842,0.00,2.65,0.00,0.000,6,0.000,0.035,3226,2388,2100,0,0,0,0,0,0
$GC,9087,1.08,239.7,396.4,9.7,347,9095,0.00,0.00,5.80,0.706,6,0.000,0.000,3226,2388,2082,0,0,0,0,0,0
$GC,9331,1.12,240.4,372.1,10.0,353,9333,0.10,0.00,0.00,0.000,6,0.093,0.000,3254,2388,2081,0,0,0,0,0,0
$GC,9575,1.12,240.4,346.1,10.4,359,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2388,2080,0,0,0,0,0,0
$GC,9818,1.12,240.4,319.6,11.2,365,9822,0.00,2.58,0.00,0.000,4,0.000,0.050,3254,3933,2080,0,0,0,0,0,0
$GC,9873,1.12,240.4,312.9,11.5,366,9877,0.00,2.55,0.00,0.000,6,0.000,0.030,3255,2366,2079,0,0,0,0,0,0
$GC,10139,1.13,245.0,285.2,9.8,373,10146,0.00,0.00,5.88,0.653,6,0.000,0.000,3255,2366,2061,0,0,0,0,0,0
$GC,10384,1.13,246.7,261.4,9.9,379,10388,0.00,2.65,0.00,0.000,4,0.000,0.048,3255,3940,2060,0,0,0,0,0,0
$GC,10423,1.13,246.7,256.9,11.9,380,10427,0.00,2.53,0.00,0.000,6,0.000,0.026,3254,2380,2059,0,0,0,0,0,0
$GC,10707,1.15,263.1,230.1,9.2,387,10732,0.00,2.70,17.45,0.729,4,0.000,0.046,3254,3935,1986,0,0,0,0,0,0
$GC,10782,1.20,263.1,221.5,11.7,388,10787,0.00,2.50,0.00,0.000,6,0.000,0.032,3254,2392,1984,0,0,0,0,0,0
$GC,11038,1.23,263.1,194.7,11.5,397,11043,0.00,2.67,0.00,0.000,4,0.000,0.049,3255,783,1984,0,0,0,0,0,0
$GC,11107,1.27,263.1,185.9,11.3,402,11117,0.08,2.58,0.00,0.000,6,0.054,0.025,3284,2388,1982,0,0,0,0,0,0
$GC,11371,1.27,263.1,153.8,12.9,427,11375,0.00,2.62,0.00,0.000,4,0.000,0.043,3284,786,1983,0,0,0,0,0,0
$GC,11411,1.27,263.1,148.6,12.7,430,11416,0.00,2.55,0.00,0.000,6,0.000,0.023,3284,2394,1983,0,0,0,0,0,0
$GC,11673,1.27,263.1,119.4,10.3,454,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2394,1982,0,0,0,0,0,0
$GC,11929,1.29,273.8,92.0,9.5,478,11945,0.00,2.70,10.82,0.564,4,0.000,0.043,3284,777,1943,0,0,0,0,0,0
$GC,11972,1.29,273.8,87.9,10.4,481,11976,0.00,2.55,0.00,0.000,6,0.000,0.024,3284,2388,1941,0,0,0,0,0,0
$GC,12240,1.29,273.8,60.3,10.6,505,12245,0.00,2.50,0.00,0.000,4,0.000,0.042,3284,3923,1941,0,0,0,0,0,0
$GC,12274,1.29,273.8,55.8,12.5,507,12278,0.00,2.47,0.00,0.000,6,0.000,0.025,3284,2375,1941,0,0,0,0,0,0
$GC,12544,1.30,281.1,28.3,9.7,532,12562,0.00,2.65,8.00,0.482,4,0.000,0.044,3284,789,1912,0,0,0,0,0,0
$GC,12587,1.30,281.1,23.6,11.5,537,12597,0.00,2.53,0.00,0.000,6,0.000,0.023,3284,2370,1912,0,0,0,0,0,0
$STATE,12764,end climb,SURFACE_DEPTH_REACHED
$STATE,12764,begin surface coast
$FINISH,-0.3,1.023737
$STATE,12806,end surface coast,CONTROL_FINISHED_OK
$STATE,12806,begin surface
$SM_CCo,12829,79.60,0.525,0,0,1509,380.21
$SM_GC,0.38,0.00,0.00,79.60,0.000,0.000,0.525,468,2178,1509,-11.67,-0.90,380.21
$IRIDIUM_FIX,2237.01,-15745.45,140603,040404
$TT8_MAMPS,0.026078
$HUMID,59.41
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,24
$24V_AH,23.3,7.790
$10V_AH,10.4,6.743
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.275,158.125,371.600,79.600,0.000,30.738,35.237,209.131,6.000,0.000,13.336,1185.620,8970.072,545.048,2028.851,594.047,33.354,1363.206,0.000,2032.636,0.000,0.535,0.000
$DEVICE_MAMPS,133.458,117.351,1020.110,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.422,315.698,401.476,580.129,1105.414,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,44718,569
$CAP_FILE_SIZE,128989,0
$CFSIZE,260165632,176795648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200314,113653,2244.563,-15743.184,37,1.0,37,10.1